generic_control_toolbox::KDLManager Class Reference

#include <kdl_manager.hpp>

Inheritance diagram for generic_control_toolbox::KDLManager:

List of all members.

Public Member Functions
bool	checkStateMessage (const std::string &end_effector_link, const sensor_msgs::JointState &state) const
bool	getCoriolis (const std::string &end_effector_link, const sensor_msgs::JointState &state, Eigen::MatrixXd &coriolis)
bool	getEefPose (const std::string &end_effector_link, const sensor_msgs::JointState &state, KDL::Frame &out) const
bool	getEefTwist (const std::string &end_effector_link, const sensor_msgs::JointState &state, KDL::FrameVel &out) const
bool	getGravity (const std::string &end_effector_link, const sensor_msgs::JointState &state, Eigen::MatrixXd &g)
bool	getGrippingPoint (const std::string &end_effector_link, const sensor_msgs::JointState &state, KDL::Frame &out) const
bool	getGrippingPoseIK (const std::string &end_effector_link, const sensor_msgs::JointState &state, const KDL::Frame &in, KDL::JntArray &out) const
bool	getGrippingTwist (const std::string &end_effector_link, const sensor_msgs::JointState &state, KDL::Twist &out) const
bool	getGrippingVelIK (const std::string &end_effector_link, const sensor_msgs::JointState &state, const KDL::Twist &in, KDL::JntArray &out) const
bool	getInertia (const std::string &end_effector_link, const sensor_msgs::JointState &state, Eigen::MatrixXd &H)
bool	getJacobian (const std::string &end_effector_link, const sensor_msgs::JointState &state, KDL::Jacobian &out) const
bool	getJointLimits (const std::string &end_effector_link, KDL::JntArray &q_min, KDL::JntArray &q_max, KDL::JntArray &q_vel_lim) const
bool	getJointPositions (const std::string &end_effector_link, const sensor_msgs::JointState &state, KDL::JntArray &q) const
bool	getJointPositions (const std::string &end_effector_link, const sensor_msgs::JointState &state, Eigen::VectorXd &q) const
bool	getJointState (const std::string &end_effector_link, const Eigen::VectorXd &qdot, sensor_msgs::JointState &state) const
bool	getJointState (const std::string &end_effector_link, const Eigen::VectorXd &q, const Eigen::VectorXd &qdot, sensor_msgs::JointState &state) const
bool	getJointState (const std::string &end_effector_link, const Eigen::VectorXd &q, const Eigen::VectorXd &qdot, const Eigen::VectorXd &effort, sensor_msgs::JointState &state) const
bool	getJointVelocities (const std::string &end_effector_link, const sensor_msgs::JointState &state, KDL::JntArray &q_dot) const
bool	getNumJoints (const std::string &end_effector_link, unsigned int &num_joints) const
bool	getPoseFK (const std::string &end_effector_link, const sensor_msgs::JointState &state, const KDL::JntArray &in, KDL::Frame &out) const
bool	getPoseIK (const std::string &end_effector_link, const sensor_msgs::JointState &state, const KDL::Frame &in, KDL::JntArray &out) const
bool	getSensorPoint (const std::string &end_effector_link, const sensor_msgs::JointState &state, KDL::Frame &out) const
bool	getVelIK (const std::string &end_effector_link, const sensor_msgs::JointState &state, const KDL::Twist &in, KDL::JntArray &out) const
bool	initializeArm (const std::string &end_effector_link)
bool	isInitialized (const std::string &end_effector_link) const
	KDLManager (const std::string &chain_base_link, ros::NodeHandle nh=ros::NodeHandle("~"))
bool	setGrippingPoint (const std::string &end_effector_link, const std::string &gripping_point_frame)
bool	setSensorPoint (const std::string &end_effector_link, const std::string &sensor_point_frame)
bool	verifyPose (const std::string &end_effector_link, const KDL::Frame &in) const
	~KDLManager ()
Private Types
typedef std::shared_ptr < KDL::ChainDynParam >	ChainDynParamPtr
typedef KDL::ChainFkSolverPos_recursive	FkSolverPos
typedef std::shared_ptr < FkSolverPos >	FkSolverPosPtr
typedef KDL::ChainFkSolverVel_recursive	FkSolverVel
typedef std::shared_ptr < FkSolverVel >	FkSolverVelPtr
typedef KDL::ChainIkSolverPos_LMA	IkSolverPos
typedef std::shared_ptr < IkSolverPos >	IkSolverPosPtr
typedef KDL::ChainIkSolverVel	IkSolverVel
typedef std::shared_ptr < IkSolverVel >	IkSolverVelPtr
typedef KDL::ChainJntToJacSolver	JacSolver
typedef std::shared_ptr < JacSolver >	JacSolverPtr
Private Member Functions
bool	getChainJointState (const sensor_msgs::JointState &current_state, const std::string &end_effector_link, KDL::JntArray &positions, KDL::JntArrayVel &velocities) const
bool	getParam ()
bool	getRigidTransform (const std::string &base_frame, const std::string &target_frame, KDL::Frame &out) const
bool	hasJoint (const KDL::Chain &chain, const std::string &joint_name) const
bool	initializeArmCommon (const std::string &end_effector_link)
Private Attributes
std::map< std::string, std::vector< std::string > >	actuated_joint_names_
std::map< std::string, KDL::Chain >	chain_
std::string	chain_base_link_
	list of actuated joints per arm
std::map< std::string, ChainDynParamPtr >	dynamic_chain_
std::map< std::string, KDL::Frame >	eef_to_gripping_point_
std::map< std::string, KDL::Frame >	eef_to_sensor_point_
double	eps_
std::map< std::string, FkSolverPosPtr >	fkpos_
std::map< std::string, FkSolverVelPtr >	fkvel_
KDL::Vector	gravity_in_chain_base_link_
double	ik_angle_tolerance_
double	ik_pos_tolerance_
std::map< std::string, IkSolverPosPtr >	ikpos_
std::map< std::string, IkSolverVelPtr >	ikvel_
std::string	ikvel_solver_
std::map< std::string, JacSolverPtr >	jac_solver_
tf::TransformListener	listener_
double	max_tf_attempts_
urdf::Model	model_
ros::NodeHandle	nh_
double	nso_weight_

---

Detailed Description

Loads and maintains a URDF robot description and provides access to relevant KDL objects/solvers. Supports n end-effectors

Definition at line 35 of file kdl_manager.hpp.

---

Member Typedef Documentation

typedef std::shared_ptr<KDL::ChainDynParam> generic_control_toolbox::KDLManager::ChainDynParamPtr [private]

Definition at line 394 of file kdl_manager.hpp.

typedef KDL::ChainFkSolverPos_recursive generic_control_toolbox::KDLManager::FkSolverPos [private]

Definition at line 385 of file kdl_manager.hpp.

typedef std::shared_ptr<FkSolverPos> generic_control_toolbox::KDLManager::FkSolverPosPtr [private]

Definition at line 391 of file kdl_manager.hpp.

typedef KDL::ChainFkSolverVel_recursive generic_control_toolbox::KDLManager::FkSolverVel [private]

Definition at line 386 of file kdl_manager.hpp.

typedef std::shared_ptr<FkSolverVel> generic_control_toolbox::KDLManager::FkSolverVelPtr [private]

Definition at line 392 of file kdl_manager.hpp.

typedef KDL::ChainIkSolverPos_LMA generic_control_toolbox::KDLManager::IkSolverPos [private]

Definition at line 384 of file kdl_manager.hpp.

typedef std::shared_ptr<IkSolverPos> generic_control_toolbox::KDLManager::IkSolverPosPtr [private]

Definition at line 390 of file kdl_manager.hpp.

typedef KDL::ChainIkSolverVel generic_control_toolbox::KDLManager::IkSolverVel [private]

Definition at line 383 of file kdl_manager.hpp.

typedef std::shared_ptr<IkSolverVel> generic_control_toolbox::KDLManager::IkSolverVelPtr [private]

Definition at line 389 of file kdl_manager.hpp.

typedef KDL::ChainJntToJacSolver generic_control_toolbox::KDLManager::JacSolver [private]

Definition at line 387 of file kdl_manager.hpp.

typedef std::shared_ptr<JacSolver> generic_control_toolbox::KDLManager::JacSolverPtr [private]

Definition at line 393 of file kdl_manager.hpp.

---

Constructor & Destructor Documentation

generic_control_toolbox::KDLManager::KDLManager	(	const std::string &	chain_base_link,
		ros::NodeHandle	nh = ros::NodeHandle("~")
	)

Definition at line 5 of file kdl_manager.cpp.

generic_control_toolbox::KDLManager::~KDLManager

(

)

Definition at line 17 of file kdl_manager.cpp.

---

Member Function Documentation

bool generic_control_toolbox::KDLManager::checkStateMessage	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state
	)		const

Checks if the provided joint state message has the required information for the kinematic chain indexed by the given end effector link. Useful with the joint states topic does not contain consistently the same information.

Parameters:

end_effector_link	The end_effector link name.
state	The joint state message to verify.

Returns:

True if the joint state message contains valid information for the requested chain, false otherwise.

Definition at line 934 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getChainJointState	(	const sensor_msgs::JointState &	current_state,
		const std::string &	end_effector_link,
		KDL::JntArray &	positions,
		KDL::JntArrayVel &	velocities
	)		const [private]

Fills in the joint arrays with the state of a given kinematic chain. The joint state might include joints outside of the kinematic chain, so there is the need to process it.

Parameters:

current_state	The robot joint state.
arm	The target arm index.
positions	The joint positions of the kinematic chain.
velocities	The joint velocities of the kinematic chain.

Returns:

True if the full joint chain was found in the current state, false otherwise.

Definition at line 976 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getCoriolis	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		Eigen::MatrixXd &	coriolis
	)

Computes the coriolis forces exerted in the given chain.

Parameters:

end_effector_link	The name of the requested end-effector.
state	The current joint state.
coriolis	The output coriolis effort.

Returns:

False in case something goes wrong, true otherwise.

Definition at line 675 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getEefPose	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		KDL::Frame &	out
	)		const

Returns the pose of the requested end-effector, given a joint state.

Parameters:

end_effector_link	The name of the requested end-effector.
state	The current robot joint state.
out	The resulting eef pose.

Returns:

False in case something goes wrong, true otherwise.

Definition at line 489 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getEefTwist	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		KDL::FrameVel &	out
	)		const

Returns the twist of the requested end-effector, given a joint state.

Parameters:

end_effector_link	The name of the requested end-effector.
state	The current robot joint state.
out	The resulting eef twist.

Returns:

False in case something goes wrong, true otherwise.

Definition at line 510 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getGravity	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		Eigen::MatrixXd &	g
	)

Computes the predicted gravity effect on the given chain.

Parameters:

end_effector_link	The name of the requested end-effector.
state	The current joint state.
g	The output gravity effort.

Returns:

False in case something goes wrong, true otherwise.

Definition at line 651 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getGrippingPoint	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		KDL::Frame &	out
	)		const

Returns the gripping point of the chosen arm. By default this is set to be the end-effector pose.

Parameters:

end_effector_link	The arm's end-effector name.
state	The robot joint state.
out	The resulting gripping point frame.

Returns:

False if something goes wrong, true otherwise.

Definition at line 408 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getGrippingPoseIK	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		const KDL::Frame &	in,
		KDL::JntArray &	out
	)		const

Returns the inverse kinematics of a chain gripping point , given a desired pose.

Parameters:

end_effector_link	The name of the requested end-effector.
state	The current robot joint state.
in	Desired eef pose.
out	Joint state for the desired gripping pose.

Returns:

False in case something goes wrong or if the solver did not converge to the desired pose, true otherwise.

Definition at line 818 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getGrippingTwist	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		KDL::Twist &	out
	)		const

Returns the twist of the requested end-effector's gripping point. By default this is set to be the end-effector's twist.

Parameters:

end_effector_link	The name of the requested end-effector.
state	The current robot joint state.
out	The resulting eef twist.

Returns:

False in case something goes wrong, true otherwise.

Definition at line 446 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getGrippingVelIK	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		const KDL::Twist &	in,
		KDL::JntArray &	out
	)		const

Returns the inverse differential kinematics of the requested gripping point, given a desired twist.

Parameters:

end_effector_link	The name of the requested end-effector.
state	The current robot joint state.
in	Desired gripping point twist, in the gripping point frame.
out	Joint state for the desired twist.

Returns:

False in case something goes wrong, true otherwise.

Definition at line 847 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getInertia	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		Eigen::MatrixXd &	H
	)

Computes the inertia matrix of the kinematic chain.

Parameters:

end_effector_link	The name of the requested end-effector.
state	The current joint state.
H	The output inertia matrix.

Returns:

False in case something goes wrong, true otherwise.

Definition at line 634 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getJacobian	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		KDL::Jacobian &	out
	)		const

Returns the jacobian the requested end-effector's chain.

Parameters:

end_effector_link	The name of the requested end-effector.
state	The current robot joint state.
out	End-effector's jacobian.

Returns:

False in case something goes wrong, true otherwise.

Definition at line 913 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getJointLimits	(	const std::string &	end_effector_link,
		KDL::JntArray &	q_min,
		KDL::JntArray &	q_max,
		KDL::JntArray &	q_vel_lim
	)		const

Returns the joint limits for all the actuated joints in the eef kinematic chain.

Parameters:

end_effector_link	The name of the requested end-effector.
q_min	The lower joint position limit.
q_max	The upper joint position limit.
q_vel_lim	The maximum joint velocity.

Returns:

False in case something goes wrong, true otherwise.

Definition at line 530 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getJointPositions	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		KDL::JntArray &	q
	)		const

Returns the current joint positions in the KDL format.

Parameters:

end_effector_link	The name of the requested end-effector.
state	The current joint state
q	The joint positions in KDL format

Returns:

False in case something goes wrong, true otherwise.

Definition at line 574 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getJointPositions	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		Eigen::VectorXd &	q
	)		const

Definition at line 593 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getJointState	(	const std::string &	end_effector_link,
		const Eigen::VectorXd &	qdot,
		sensor_msgs::JointState &	state
	)		const

Fills the joint state message given only joint velocities. Joint positions are taken from the joint state message.

Parameters:

end_effector_link	The chain's end_effector.
qdot	The chain's joint velocities.
state	The generated joint state message.

Returns:

False if something goes wrong.

Definition at line 256 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getJointState	(	const std::string &	end_effector_link,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	qdot,
		sensor_msgs::JointState &	state
	)		const

Fills the joint state message appropriately given the joint positions and velocities of the selected end-effector's joint chain.

Parameters:

end_effector_link	The chain's end_effector.
q	The chain's joint posisitions.
qdot	The chain's joint velocities.
state	The generated joint state message.

Returns:

False if something goes wrong.

Definition at line 301 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getJointState	(	const std::string &	end_effector_link,
		const Eigen::VectorXd &	q,
		const Eigen::VectorXd &	qdot,
		const Eigen::VectorXd &	effort,
		sensor_msgs::JointState &	state
	)		const

Fills the joint state message appropriately given the joint positions, velocities and efforts of the selected end-effector's joint chain.

Parameters:

end_effector_link	The chain's end_effector.
q	The chain's joint posisitions.
qdot	The chain's joint velocities.
effort	The chain's joint efforts.
state	The generated joint state message.

Returns:

False if something goes wrong.

Definition at line 357 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getJointVelocities	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		KDL::JntArray &	q_dot
	)		const

Returns the current joint velocities in the KDL format.

Parameters:

end_effector_link	The name of the requested end-effector.
state	The current joint state.
q_dot	The joint velocities in the KDL format.

Returns:

False in case something goes wrong, true otherwise.

Definition at line 613 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getNumJoints	(	const std::string &	end_effector_link,
		unsigned int &	num_joints
	)		const

Returns the number of joints for a given chain.

Parameters:

end_effector_link	The name of the requested end-effector.
num_joints	The number of joints of the associated kinematic chain.

Returns:

False in case something goes wrong, true otherwise.

Definition at line 1036 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getParam

(

)

[private]

Loads the manager parameters

Returns:

False in case something goes wrong, true otherwise

Definition at line 19 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getPoseFK	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		const KDL::JntArray &	in,
		KDL::Frame &	out
	)		const

Returns the forward kinematics of the requested end-effector, given a desired joint state.

Parameters:

end_effector_link	The name of the requested end-effector.
state	The current robot joint state.
in	Desired eef joint state.
out	Pose for the desired joint state.

Returns:

False in case something goes wrong, true otherwise.

Definition at line 834 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getPoseIK	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		const KDL::Frame &	in,
		KDL::JntArray &	out
	)		const

Returns the inverse kinematics of the requested end-effector, given a desired pose.

Parameters:

end_effector_link	The name of the requested end-effector.
state	The current robot joint state.
in	Desired eef pose.
out	Joint state for the desired pose.

Returns:

False in case something goes wrong or if the solver did not converge to the desired pose, true otherwise.

Definition at line 767 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getRigidTransform	(	const std::string &	base_frame,
		const std::string &	target_frame,
		KDL::Frame &	out
	)		const [private]

Queries TF to get the rigid transform between two frames

Parameters:

base_frame	The base frame of the transform.
target_frame	The target frame of the transform.
out	The rigid transform between the two frames in the KDL format.

Returns:

False in case something goes wrong, true otherwise.

Definition at line 697 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getSensorPoint	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		KDL::Frame &	out
	)		const

Returns the sensor point of the chosen arm. By default this is set to be the end-effector pose.

Parameters:

end_effector_link	The arm's end-effector name.
state	The robot joint state.
out	The resulting sensor point frame.

Returns:

False if something goes wrong, true otherwise.

Definition at line 427 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::getVelIK	(	const std::string &	end_effector_link,
		const sensor_msgs::JointState &	state,
		const KDL::Twist &	in,
		KDL::JntArray &	out
	)		const

Returns the inverse differential kinematics of the requested end-effector, given a desired twist.

Parameters:

end_effector_link	The name of the requested end-effector.
state	The current robot joint state.
in	Desired eef twist.
out	Joint state for the desired twist.

Returns:

False in case something goes wrong, true otherwise.

Definition at line 892 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::hasJoint	(	const KDL::Chain &	chain,
		const std::string &	joint_name
	)		const [private]

Check if a chain has the given joint_name.

Parameters:

chain	The kinematic chain where to look for the joint.
joint_name	The joint name we wish to check.

Returns:

True if the joint was found in the kinematic chain, false otherwise.

Definition at line 1022 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::initializeArm

(

const std::string &

end_effector_link

)

Initialize the kinematic chain, solvers and joint arrays for an arm defined by its end-effector link. The kinematic chain is assumed to start at chain_base_link_.

Parameters:

end_effector_link

The final link of the kinematic chain.

Returns:

false if it is not possible to initialize.

Definition at line 96 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::initializeArmCommon

(

const std::string &

end_effector_link

)

[private]

Common part of the initialize arm methods.

Parameters:

end_effector_link

The name of the requested end-effector.

Returns:

False in case something goes wrong, true otherwise.

Definition at line 152 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::isInitialized

(

const std::string &

end_effector_link

)

const

Checks whether a kinematic chain with the given end-effector link was initialized in a KDL manager instance.

Parameters:

end_effector_link

The final link of the kinematic chain.

Returns:

False if the chain is not initialized, true otherwise.

Definition at line 147 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::setGrippingPoint	(	const std::string &	end_effector_link,
		const std::string &	gripping_point_frame
	)

Queries TF for the rigid transform between the end-effector link frame and the gripping point frame and stores it as a KDL Frame.

Parameters:

end_effector_link	The end-effector link name.
gripping_point_frame	TF name of the gripping point frame.

Returns:

False if transform is not found or something else goes wrong, true otherwise.

Definition at line 215 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::setSensorPoint	(	const std::string &	end_effector_link,
		const std::string &	sensor_point_frame
	)

Queries TF for the rigid transform between the end-effector link frame and a sensor point frame, and stores it as a KDL Frame.

Parameters:

end_effector_link	The end-effector link name.
sensor_point_frame	TF name of the sensor point frame.

Returns:

False if transform is not found or something else goes wrong, true otherwise.

Definition at line 236 of file kdl_manager.cpp.

bool generic_control_toolbox::KDLManager::verifyPose	(	const std::string &	end_effector_link,
		const KDL::Frame &	in
	)		const

Verifies if a given pose is reachable by the requested end-effector.

Parameters:

end_effector_link	The name of the requested end-effector.
in	The pose that is to be verified.

Returns:

True if the pose is reachable, false otherwise or in case of error.

Definition at line 739 of file kdl_manager.cpp.

---

Member Data Documentation

std::map<std::string, std::vector<std::string> > generic_control_toolbox::KDLManager::actuated_joint_names_ [private]

Definition at line 411 of file kdl_manager.hpp.

std::map<std::string, KDL::Chain> generic_control_toolbox::KDLManager::chain_ [private]

Definition at line 403 of file kdl_manager.hpp.

std::string generic_control_toolbox::KDLManager::chain_base_link_ [private]

list of actuated joints per arm

Definition at line 412 of file kdl_manager.hpp.

std::map<std::string, ChainDynParamPtr> generic_control_toolbox::KDLManager::dynamic_chain_ [private]

Definition at line 404 of file kdl_manager.hpp.

std::map<std::string, KDL::Frame> generic_control_toolbox::KDLManager::eef_to_gripping_point_ [private]

Definition at line 401 of file kdl_manager.hpp.

std::map<std::string, KDL::Frame> generic_control_toolbox::KDLManager::eef_to_sensor_point_ [private]

Definition at line 402 of file kdl_manager.hpp.

double generic_control_toolbox::KDLManager::eps_ [private]

Definition at line 413 of file kdl_manager.hpp.

std::map<std::string, FkSolverPosPtr> generic_control_toolbox::KDLManager::fkpos_ [private]

Definition at line 398 of file kdl_manager.hpp.

std::map<std::string, FkSolverVelPtr> generic_control_toolbox::KDLManager::fkvel_ [private]

Definition at line 399 of file kdl_manager.hpp.

KDL::Vector generic_control_toolbox::KDLManager::gravity_in_chain_base_link_ [private]

Definition at line 409 of file kdl_manager.hpp.

double generic_control_toolbox::KDLManager::ik_angle_tolerance_ [private]

Definition at line 413 of file kdl_manager.hpp.

double generic_control_toolbox::KDLManager::ik_pos_tolerance_ [private]

Definition at line 413 of file kdl_manager.hpp.

std::map<std::string, IkSolverPosPtr> generic_control_toolbox::KDLManager::ikpos_ [private]

Definition at line 397 of file kdl_manager.hpp.

std::map<std::string, IkSolverVelPtr> generic_control_toolbox::KDLManager::ikvel_ [private]

Definition at line 396 of file kdl_manager.hpp.

std::string generic_control_toolbox::KDLManager::ikvel_solver_ [private]

Definition at line 412 of file kdl_manager.hpp.

std::map<std::string, JacSolverPtr> generic_control_toolbox::KDLManager::jac_solver_ [private]

Definition at line 400 of file kdl_manager.hpp.

tf::TransformListener generic_control_toolbox::KDLManager::listener_ [private]

Definition at line 408 of file kdl_manager.hpp.

double generic_control_toolbox::KDLManager::max_tf_attempts_ [private]

Definition at line 413 of file kdl_manager.hpp.

urdf::Model generic_control_toolbox::KDLManager::model_ [private]

Definition at line 406 of file kdl_manager.hpp.

ros::NodeHandle generic_control_toolbox::KDLManager::nh_ [private]

Definition at line 407 of file kdl_manager.hpp.

double generic_control_toolbox::KDLManager::nso_weight_ [private]

Definition at line 413 of file kdl_manager.hpp.

---

The documentation for this class was generated from the following files:

• kdl_manager.hpp
• kdl_manager.cpp